Florian T. Pokorny
Assistant Professor, School of Computer Science and Communication, KTH Royal Institute of TechnologyCaging Complex Objects with Geodesic Balls
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
Abstract
This paper proposes a novel approach for the synthesis of grasps of
objects whose geometry can be observed only in the presence of
noise. We focus in particular on the problem of generating caging
grasps with a realistic robot hand simulation and show that our method
can generate such grasps even on complex objects. We introduce the
idea of using geodesic balls on the object's surface in order to
approximate the maximal contact surface between a robotic hand and an
object. We define two types of heuristics which extract
information from approximate geodesic balls in order to identify areas
on an object that can likely be used to generate a caging grasp. Our
heuristics are based on two scoring functions. The first uses
winding angles measuring how much a geodesic ball on the surface
winds around a dominant axis, while the second explores using the total
discrete Gaussian curvature of a geodesic ball to rank potential
caging postures. We evaluate our approach with respect to variations
in hand kinematics, for a selection of complex real-world objects and
with respect to its robustness to noise.
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Download this publicationBibtex
@inproceedings{zarubin2013b,
author = {Zarubin, Dmitry, and Pokorny, Florian T. and Toussaint, Marc and Kragic, Danica},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title = {Caging Complex Objects with Geodesic Balls},
year = {2013},
address = {Tokyo, Japan},
url = {http://www.csc.kth.se/~fpokorny/static/publications/zarubin2013b.pdf},
}